WO2022000316A1 - 云台装置及拍摄装置 - Google Patents

云台装置及拍摄装置 Download PDF

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Publication number
WO2022000316A1
WO2022000316A1 PCT/CN2020/099451 CN2020099451W WO2022000316A1 WO 2022000316 A1 WO2022000316 A1 WO 2022000316A1 CN 2020099451 W CN2020099451 W CN 2020099451W WO 2022000316 A1 WO2022000316 A1 WO 2022000316A1
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WO
WIPO (PCT)
Prior art keywords
assembly
component
shaft arm
detection
arm
Prior art date
Application number
PCT/CN2020/099451
Other languages
English (en)
French (fr)
Inventor
赵天菲
谢旻钊
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/099451 priority Critical patent/WO2022000316A1/zh
Priority to CN202080028117.4A priority patent/CN113748291B/zh
Publication of WO2022000316A1 publication Critical patent/WO2022000316A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the PTZ camera In order to ensure the stability of the shooting picture when the camera in the film and television industry is shooting in motion, the PTZ camera is gradually used.
  • the gimbal In actual use, the gimbal cannot be guaranteed to be in the same position every time it is used, so the current position cannot be confirmed every time the gimbal is turned on, and the gimbal needs to be re-rotated to confirm the current position, which increases the boot time and affects the user experience.
  • the present application provides a pan/tilt device and a photographing device.
  • a pan/tilt device including a pan/tilt support for loading a load and a position detection assembly, the pan/tilt support including a shaft arm assembly including a shaft arm and a position detection assembly. a power assembly connected with the shaft arm, the power assembly is used to drive the shaft arm to rotate; the position detection assembly is arranged between the power assembly of the shaft arm assembly and the shaft arm;
  • the position detection assembly includes a detection component and a detected component, the detection component is fixed to one of the power component and the shaft arm, and the detected component is fixed to the power component and the shaft The other one of the arms; the detection component is used for detecting the position of the detected component to determine the position of the shaft arm relative to the power assembly.
  • a photographing device including a photographing device and a pan-tilt device;
  • the pan/tilt device includes a pan/tilt support for loading loads and a position detection assembly, the pan/tilt support includes a shaft arm assembly, and the shaft arm assembly includes a shaft arm and a power assembly connected with the shaft arm, the The power assembly is used to drive the shaft arm to rotate; the camera is mounted on the shaft arm assembly of the pan-tilt device;
  • the position detection assembly is arranged between the power assembly and the shaft arm of the shaft arm assembly; the position detection assembly includes a detection part and a detected part, and the detection part is fixedly connected to the power assembly and the shaft arm; One of the shaft arms, and the detected component is fixed to the other of the power assembly and the shaft arm; the detection component is used to detect the position of the detected component to determine the the position of the shaft arm relative to the power assembly.
  • the present application can determine the relative power of the shaft arm of the shaft arm assembly by detecting the position of the detected component through the detection member of the position detection assembly disposed between the shaft arm assemblies of the pan/tilt device.
  • the position of the assembly that is, the position of the joint angle of the pivot arm assembly of the gimbal, so as to determine the current position of the gimbal. It avoids the problem that the camera cannot confirm the current position every time it is turned on and needs to be re-confirmed, saves the booting time and improves the user experience.
  • FIG. 1 is a schematic diagram of a partial explosion of a photographing device in an embodiment of the present application.
  • FIG. 2 is a schematic perspective view of a photographing device in an embodiment of the present application.
  • FIG. 3 is a schematic perspective view of the photographing device according to an embodiment of the present application from another viewing angle.
  • FIG. 4 is a three-dimensional schematic diagram of a camera device according to an embodiment of the present application from another viewing angle.
  • FIG. 5 to FIG. 7 are schematic diagrams of position changes of a photographing device in an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a partial explosion of a photographing device in another embodiment of the present application.
  • FIG. 9 is a schematic perspective view of a photographing device in another embodiment of the present application.
  • FIG. 10 is a schematic perspective view of another viewing angle of a photographing device in another embodiment of the present application.
  • FIG. 11 is a schematic perspective view of a photographing device according to another embodiment of the present application from another viewing angle.
  • 12 to 14 are schematic diagrams of position changes of a photographing device in another embodiment of the present application.
  • the present application provides a pan/tilt device and a photographing device.
  • the pan-tilt device and the photographing device of the present application will be described in detail below with reference to the accompanying drawings.
  • the features of the embodiments and implementations described below may be combined with each other without conflict.
  • an embodiment of the present application provides a photographing device and a pan-tilt device, including a camera 90 and the pan-tilt device, and the pan-tilt device may include a pan-tilt bracket 10 and a position for loading a load
  • the detection component wherein the camera 90 can be a camera, a lens and other devices, and the load can be the camera 90 .
  • the pan/tilt support 10 includes a shaft arm assembly, the shaft arm assembly includes a shaft arm 11 and a power assembly 12 connected with the shaft arm 11 , and the power assembly 12 is used to drive the shaft arm 11 to rotate.
  • the camera 90 is mounted on the shaft arm assembly.
  • the position detection assembly is disposed between the power assembly 12 of the shaft arm assembly and the shaft arm 11 .
  • the shaft arm 11 is driven by the power assembly 12 to rotate, so as to drive the camera 90 to rotate together, so as to realize the function of adjusting the shooting angle of the camera 90 .
  • the position detection assembly includes a detection component 21 and a detected component 22, the detection component 21 is fixed to one of the power component 12 and the shaft arm 11, and the detected component 22 is fixed to the The other of the power assembly 12 and the axle arm 11 .
  • the detection part 21 is used to detect the position of the detected part 22 to determine the position of the shaft arm 11 relative to the power assembly 12 .
  • the pan/tilt device may be in different positions.
  • the present application detects the position of the detected component 22 through the detection component 21 of the position detection component disposed between the axis arm components of the pan/tilt device, so that the position of the axis arm 11 of the axis arm component relative to the power component 12 can be determined, That is, the position of the joint angle of the pivot arm assembly of the gimbal is determined, thereby determining the current position of the gimbal.
  • the problem that the current position of the photographing device cannot be confirmed every time it is turned on and needs to be re-confirmed is avoided, the booting time is saved, and the user experience is improved.
  • the detection component 21 is fixed to the power assembly 12
  • the detected component 22 is fixed to the shaft arm 11 .
  • the positions of the detection component 21 and the detected component 22 may be interchanged according to actual conditions, which is not limited in this application. It should be noted that, in the example shown in the figure, the detection member 21 is fixed to the power assembly 12 , and the detected member 22 is fixed to the shaft arm 11 .
  • the shaft arm 11 includes a base 111 connected to the power assembly 12 and a shaft arm body 112 connected to the base 111 , and the detected component 22 is fixed to the base 111 and close to the power assembly 12 at one end.
  • the base 111 can be adapted to the structure of the power assembly 12 to facilitate the power assembly 12 to drive.
  • At least one positioning groove 113 is defined on one end face of the base 111 close to the power assembly 12 , and the detected part 22 is provided with the positioning groove 113 at least one plug portion 224 of the plug-and-match.
  • the detected component 22 can be inserted into the positioning groove 113 corresponding to the position on the base 111 through the plug-in portion 224 to ensure a stable position between the detected component 22 and the shaft arm 11 .
  • the detection component 21 detects the position of the detected component 22 by means of photoelectric induction.
  • the detection part 21 is a photoelectric sensor
  • the detected part 22 includes a first structure part 221 and a second structure part 222 connected to each other, and the first structure part 221 and the second structure part 222 feedback to the The strength of the photoelectric signal of the photoelectric sensor is different.
  • the first structural member 221 and the second structural member 222 can realize the formation of photoelectric signals with different intensities to the photoelectric sensor by means of differences in structure, material, color, surface roughness, etc., which is convenient for the photoelectric sensor. By distinguishing, the position of the detected part 22 relative to the detecting part 21 can be determined more precisely.
  • the detected part 22 is a plastic part, which reduces the overall weight of the gimbal device.
  • the first structural member 221 and the second structural member 222 are integrally formed, which is convenient for processing and forming.
  • the photoelectric sensor ie, the detection part 21
  • the detection part 21 includes a detection field of view (the dotted line in FIG. 5 ) for detecting the detected part 22 range)
  • the projected areas of the first structural member 221 and the second structural member 222 on the power assembly 12 are the same.
  • the projections of the first structural member 221 and the second structural member 222 on the power assembly 12 are both rectangular as an example.
  • the shaft arm 11 includes an initial position.
  • the projected areas of the first structural member 221 and the second structural member 222 in the detection field of view are the same, as shown in FIG. 2 and FIG. 5 shown. That is, when the shaft arm 11 is in the initial position, the first structural member 221 of the detected member 22 is detected in half of the detection field of the detection member 21 , and the detected member 22 is detected in the other half of the detection field of view of the detection member 21 .
  • the second structural member 222 is more convenient for judging whether the shaft arm 11 is in the initial position.
  • the detected part 22 is an annular part, and the first structural part 221 and the second structural part 222 are semi-annular structures connected to each other.
  • the axial direction of the ring member is coaxial with the driving axis of the power assembly 12 . It can be understood that when the shaft arm 11 rotates relative to the power assembly 12 , the detected component 22 rotates together with the coaxial arm 11 with the axis of the power assembly 12 as the axis of rotation.
  • the first structural member 221 and the second structural member 222 can form photoelectric signals with different intensities to the photoelectric sensor through the difference in the color of the members.
  • the surface of the first structural member 221 is of a first color
  • the surface of the second structural member 222 is of a second color
  • the second color is different from the first color.
  • the first color is black and the second color is white.
  • the first color and the second color may also be other two different colors, which is not limited in this application.
  • the first structural member 221 and the second structural member 222 can also use the difference in surface roughness to form photoelectric signals with different intensities to the photoelectric sensor.
  • the surface of the first structural member 221 has a first surface roughness
  • the surface of the second structural member 222 has a second surface roughness
  • the second surface roughness is the same as the first surface roughness. different degrees.
  • the first structural member 221 and the second structural member 222 can realize the formation of photoelectric signals with different intensities to the photoelectric sensor through the difference in structure.
  • the structural difference between the first structural member 221 and the second structural member 222 can realize that during the rotation process of the shaft arm 12, the first structural member 221 is always located outside the detection range of the detection member 21, and at least part of the first structural member 221 is located outside the detection range of the detection member 21.
  • the two structural members 222 are located within the detection range of the detection member 21, and can also form photoelectric signals with different intensities for the photoelectric sensor.
  • the first structural member 221 is formed with a protruding portion 223 along the axial direction of the annular member, and the protruding portion 223 protrudes from the second structure.
  • the member 222 is adjacent to the surface of the power assembly 12 .
  • the photoelectric sensor includes a groove portion 211 adapted to the protruding portion 223 .
  • the projection of the groove portion 211 on the plane where the axial direction of the annular member is located is the same as the projection of the protruding portion 223 .
  • the projections in the plane at least partially overlap, and the projection surface of the photoelectric sensor projected on the power element 12 and the projection surface of the ring element projected on the power element 12 at least partially overlap.
  • the protruding portion 223 of the second structural member 222 covers half of the space in the groove portion 211 of the detection member 21 , that is, the protruding portion 223 of the second structural member 222 covers The space ratio in the groove portion 211 of the detection member 21 was 50%. As shown in Figure 9. When the protruding portion 223 of the second structural member 222 covers the space ratio of the groove portion 211 of the detecting member 21 is not 50%, it means that the shaft arm 11 is not in the initial position. In the example shown in FIG. 10 , the detection field of the detection member 21 is entirely covered by the protruding portion 223 of the second structural member 222 . In the example shown in FIG. 11 , the detection field of view of the detection member 21 is completely uncovered by the protruding portion 223 of the second structural member 222 .
  • the longitudinal dimension of the second structural member 222 is larger than that of the first structural member 111 .
  • the second structural member 222 of the detected part 22 is detected in half of the detection field of view of the detection part 21, and no detected part 21 is detected in the other half of the detection field of view of the detection part 21, that is,
  • the ratio of the detection part 21 covered by the detection part 22 within the detection field of view is 50%, as shown in FIG. 12 .
  • the ratio within the detection field of the detection member 21 covered by the detection member 22 is not 50%, it means that the shaft arm 11 is not in the initial position.
  • no object to be detected 22 is detected within the detection field of view of the detection unit 21 .
  • all objects 22 to be detected are detected within the detection field of view of the detection member 21 .
  • the detection component 21 is electrically connected to the power assembly 12 .
  • the detection part 21 detects the position of the detected part 22 and sends a detection signal to the power assembly 12 , and the power assembly 12 drives the shaft arm according to the detection signal 11 Turn to the initial position. It can be understood that when the gimbal device is powered on, if the position of the detected part 22 detected by the detection part 21 indicates that the shaft arm 11 is not in the initial position, the power assembly 12 can automatically drive the shaft arm 11 to rotate to the initial position. , as shown in Figure 2 or Figure 9.
  • the power assembly 12 includes a controller, a circuit board 121 and a driving member 122 for driving the shaft arm 11 to rotate.
  • the driving member 122 is connected with the shaft arm 11 , and the controller is fixed on the shaft arm 11 .
  • the circuit board 121 is electrically connected to the circuit board 121
  • the detection component 21 is fixed to the circuit board 121 and is electrically connected to the circuit board 121 .
  • the detection component 21 detects the position of the detected component 22 and sends a detection signal to the controller, and the controller controls the driving member 122 to drive according to the detection signal
  • the shaft arm 11 is rotated to the initial position.
  • the driving member 122 is a driving motor, and the driving member 122 may also adopt other driving structures, which are not limited in this application.
  • the inside of the housing of the power assembly 12 may also be provided with wires 19 for supplying power to the drive motor or other devices and transmitting data.
  • the controller can automatically control the driving part 122 to drive the shaft arm 11 to rotate. to the initial position. That is, when the photographing device is powered on, the pan/tilt device can automatically control the power assembly 12 to drive the shaft arm 11 to rotate to the initial position according to the detection result of the detection component 21, so as to realize the function of automatic reset and correction.
  • the controller controls the drive part 122 to drive the shaft arm 11 to rotate counterclockwise as shown in FIG. 2 . the initial position shown.
  • the controller controls the driving part 122 to drive the shaft arm 11 to rotate clockwise as shown in FIG. 2 . the initial position shown.
  • the controller controls the driving component 122 to drive the shaft arm 11 counterclockwise Rotate to the initial position as shown in Figure 9.
  • the controller controls the driving component 122 to drive the shaft arm 11 clockwise Rotate to the initial position as shown in Figure 9.
  • the pan-tilt apparatus may further include at least one flexible printed circuit board 17 (Flexible Printed Circuit, FPC), and the flexible printed circuit board 17 is connected with a connector 18 for connecting external devices.
  • FPC Flexible Printed Circuit
  • the flexible circuit board 17 can be connected with the circuit board 121 or with the internal main board of the camera 90 .
  • the number of the shaft arm assemblies is at least one
  • the number of the position detection assemblies is at least one and not more than the number of the shaft arm assemblies
  • the power components of at least one shaft arm assembly are The position detection assembly is provided between 12 and the shaft arm 11 .
  • the gimbal device of the present application may be a single-axis gimbal, a dual-axis gimbal or a three-axis gimbal.
  • the gimbal device of the present application is a single-axis gimbal
  • the number of the shaft arm assembly is one
  • the number of the position detection assembly is one
  • the position detection assembly is arranged on the power assembly 12 and the shaft of the shaft arm assembly. between the arms 11.
  • the number of the shaft arm assemblies is two, and the number of the position detection assemblies may be one or two.
  • the position detection assembly is disposed between the power assembly 12 and the shaft arm 11 , or one of the position detection assemblies is disposed between the power assembly 12 and the shaft arm 11 of the two shaft arm assemblies.
  • the gimbal device of the present application is a three-axis gimbal, the number of the shaft arm assemblies is three, and the number of the position detection assemblies may be one, two or three.
  • the position detection assembly is arranged between the power assembly 12 and the shaft arm 11 of the shaft arm assembly, or the position detection assembly is arranged between the power assembly 12 and the shaft arm 11 of the two shaft arm assemblies, or the position detection assembly is arranged between the three shaft arm assemblies.
  • One of the position detection components is provided between the power component 12 and the axis arm 11 of each axis arm component.
  • the at least one axis arm assembly may include a yaw axis assembly, a roll axis assembly and a pitch axis assembly.
  • the yaw shaft assembly includes a yaw shaft power assembly and a yaw shaft arm connected with the yaw shaft power assembly
  • the roll shaft assembly includes a roll shaft power connected with the yaw shaft arm Assembly 13 and a roll axis arm 14 connected to the roll axis power assembly 13
  • the pitch axis assembly includes a pitch axis power assembly 15 connected to the roll axis arm 14 and a pitch axis power assembly 15 Pitch axis arm 16 to which assembly 15 is attached.
  • the camera 90 may be disposed on the tilt axis arm.
  • the yaw axis arm can rotate relative to the yaw axis power assembly.
  • the roll axis arm can rotate relative to the roll axis power assembly.
  • the pitch axis arm can rotate relative to the pitch axis power assembly.
  • the gimbal device of the present application is a three-axis gimbal.
  • the shaft arm 11 shown in the figure can be understood as a yaw shaft arm
  • the power assembly 12 shown in the figure can be understood as a yaw shaft power assembly.
  • the roll axis arm 14 and the pitch axis arm 16 can be configured as structures that occupy a smaller volume, which can achieve the same effect as the roll axis power assembly 13 and the pitch axis power assembly 15. You can cooperate.
  • the position of the detected part 22 is detected by the detection part 21 of the position detection assembly of the pan-tilt device, which is arranged between the shaft arm assemblies, and the relative position of the shaft arm 11 of the shaft arm assembly to the power assembly 12 can be determined. , that is, to determine the position of the joint angle of the pivot arm assembly of the gimbal, so as to determine the current position of the gimbal.
  • the problem that the current position of the photographing device cannot be confirmed every time it is turned on and needs to be re-confirmed is avoided, the booting time is saved, and the user experience is improved.
  • the pan/tilt device can automatically control the power assembly 12 to drive the shaft arm 11 to rotate to the initial position according to the detection result of the detection component 21, so as to realize the function of automatic reset and correction.
  • pan-tilt handle provided by the embodiments of the present application and the pan-tilt head provided with the pan-tilt handle provided by the embodiments of the present application have been described in detail above.
  • the principles and implementations of the present application are described with specific examples in this paper.
  • the descriptions of the above embodiments are only used to help understanding The method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation and application scope.
  • the content of this specification should not be It is construed as a limitation of this application.

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  • Mechanical Engineering (AREA)
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Abstract

一种云台装置及拍摄装置，云台装置包括用于装载负载的云台支架（10）和位置检测组件，所述云台支架包括轴臂组件，所述轴臂组件包括轴臂（11）和与所述轴臂连接的动力组件（12），所述动力组件用于驱动所述轴臂转动；所述位置检测组件设置于所述轴臂组件的所述动力组件和所述轴臂之间。所述位置检测组件包括检测部件（21）和被检测部件（22），所述检测部件固接于所述动力组件和所述轴臂中的一者，所述被检测部件固接于所述动力组件和所述轴臂中的另一者。所述检测部件用于检测所述被检测部件的位置，以确定所述轴臂相对所述动力组件的位置，从而确定云台的当前位置。

Description

云台装置及拍摄装置 技术领域
本申请涉及云台技术领域，尤其涉及一种云台装置及拍摄装置。
背景技术
影视行业摄像机在运动拍摄时，为了保证拍摄画面稳定，逐渐使用云台相机。实际使用中，云台每次使用后不能保证都处于同样的位置，因此每次开机时无法确认当前位置，需要重新转动云台确认当前位置，增加开机时间，影响用户体验。
发明内容
本申请提供一种云台装置及拍摄装置。
具体地，本申请是通过如下技术方案实现的：
根据本申请的第一方面，提供一种云台装置，包括用于装载负载的云台支架和位置检测组件，所述云台支架包括轴臂组件，所述轴臂组件包括轴臂和与所述轴臂连接的动力组件，所述动力组件用于驱动所述轴臂转动；所述位置检测组件设置于所述轴臂组件的所述动力组件和所述轴臂之间；
所述位置检测组件包括检测部件和被检测部件，所述检测部件固接于所述动力组件和所述轴臂中的一者，所述被检测部件固接于所述动力组件和所述轴臂中的另一者；所述检测部件用于检测所述被检测部件的位置，以确定所述轴臂相对所述动力组件的位置。
根据本申请的第二方面，提供一种拍摄装置，包括拍摄器和云台装置；
所述云台装置包括用于装载负载的云台支架和位置检测组件，所述云台支架包括轴臂组件，所述轴臂组件包括轴臂和与所述轴臂连接的动力组件，所述动力组件用于驱动所述轴臂转动；所述拍摄器装载于所述云台装置的轴臂组件；
所述位置检测组件设置于所述轴臂组件的所述动力组件和所述轴臂之间；所述位置检测组件包括检测部件和被检测部件，所述检测部件固接于所述动力组件和所述轴臂中的一者，所述被检测部件固接于所述动力组件和所述轴臂中的另一者；所述检测部件用于检测所述被检测部件的位置，以确定所述轴臂相对所述动力组件的位置。
由以上本申请实施例提供的技术方案可见，本申请通过设置在云台装置的轴臂组件之间的位置检测组件的检测部件检测被检测部件的位置，能够确定轴臂组件的轴臂相对动力组件的位置，也即云台轴臂组件的关节角的位置，从而确定云台的当前位置。避免了拍摄装置每次开机无法确认当前位置而需要重新确认的问题，节省了开机 时间，提高用户体验。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一实施例中的拍摄装置的局部爆炸示意图。
图2是本申请一实施例中的拍摄装置的立体示意图。
图3是本申请一实施例中的拍摄装置的另一视角的立体示意图。
图4是本申请一实施例中的拍摄装置的再一视角的立体示意图。
图5至图7是本申请一实施例中的拍摄装置的位置变化示意图。
图8是本申请另一实施例中的拍摄装置的局部爆炸示意图。
图9是本申请另一实施例中的拍摄装置的立体示意图。
图10是本申请另一实施例中的拍摄装置的另一视角的立体示意图。
图11是本申请另一实施例中的拍摄装置的再一视角的立体示意图。
图12至图14是本申请另一实施例中的拍摄装置的位置变化示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请提供一种云台装置及拍摄装置。下面结合附图，对本申请的云台装置及拍摄装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1至图14所示，本申请实施例提供一种拍摄装置和云台装置，包括拍摄器90和所述云台装置，云台装置可以包括用于装载负载的云台支架10和位置检测组件，其中，拍摄器90可以是相机、镜头等装置，负载可以是所述拍摄器90。
所述云台支架10包括轴臂组件，所述轴臂组件包括轴臂11和与所述轴臂11连接的动力组件12，所述动力组件12用于驱动所述轴臂11转动。所述拍摄器90装载于所述轴臂组件。所述位置检测组件设置于所述轴臂组件的所述动力组件12和所述轴臂11之间。实际使用中，通过动力组件12驱动轴臂11转动，从而带动拍摄器90 一同转动，实现调节拍摄器90的拍摄角度的功能。
所述位置检测组件包括检测部件21和被检测部件22，所述检测部件21固接于所述动力组件12和所述轴臂11中的一者，所述被检测部件22固接于所述动力组件12和所述轴臂11中的另一者。所述检测部件21用于检测所述被检测部件22的位置，以确定所述轴臂11相对所述动力组件12的位置。
可以理解的，拍摄装置每次使用后，云台装置可能处于不同的位置。通过上述设置，本申请通过设置在云台装置的轴臂组件之间的位置检测组件的检测部件21检测被检测部件22的位置，能够确定轴臂组件的轴臂11相对动力组件12的位置，也即确定云台轴臂组件的关节角的位置，从而确定云台的当前位置。避免了拍摄装置每次开机无法确认当前位置而需要重新确认的问题，节省了开机时间，提高用户体验。
在一些可选的实施例中，所述检测部件21固接于所述动力组件12，所述被检测部件22固接于所述轴臂11。当然，在其他例子中，检测部件21和被检测部件22的位置可以根据实际情况互换，本申请对此不作限制。需要说明的是，在图中所示的例子中，所述检测部件21固接于所述动力组件12，所述被检测部件22固接于所述轴臂11。
进一步地，所述轴臂11包括与所述动力组件12连接的底座111和连接于所述底座111的轴臂本体112，所述被检测部件22固接于所述底座111靠近所述动力组件12的一端。底座111可以与动力组件12的结构相适配，便于动力组件12进行驱动。
为了提高被检测部件22与轴臂11的连接牢固度，所述底座111靠近所述动力组件12的一侧端面开设有至少一个定位槽113，所述被检测部件22设有与所述定位槽113插接配合的至少一个插接部224。被检测部件22可以通过插接部224插接在底座111上位置对应的定位槽113内，保证被检测部件22与轴臂11之间的位置稳固。
在一些可选的实施例中，检测部件21通过光电感应的方式检测被检测部件22的位置。所述检测部件21为光电传感器，所述被检测部件22包括相互连接的第一结构件221和第二结构件222，所述第一结构件221与所述第二结构件222反馈给所述光电传感器的光电信号的强度不同。第一结构件221和第二结构件222可以通过结构上的差异、材质的差异、构件颜色的差异、表面粗糙度的差异等方式，实现对光电传感器的形成强度不同的光电信号，便于光电传感器进行区分，从而更精确地确定被检测部件22相对检测部21的位置。可选地，被检测部件22为塑料件，减少云台装置的整体重量。所述第一结构件221与所述第二结构件222一体成型设置，便于加工成型。
进一步地，参见图5至图7所示，为了确定云台装置的初始位置，所述光电传感器(即检测部件21)包括用于检测所述被检测部件22的检测视野(如图5中虚线范围所示)，所述第一结构件221和所述第二结构件222投影于所述动力组件12上的投影面积相同。在图5所示的例子中，以第一结构件221和所述第二结构件222投影 于所述动力组件12上的投影均为矩形为例。
所述轴臂11包括初始位置，所述轴臂11处于初始位置时，所述第一结构件221和所述第二结构件222位于所述检测视野内的投影面积相同，如图2和图5所示。也即，所述轴臂11处于初始位置时，检测部件21的一半检测视野内检测到被检测部件22的第一结构件221，检测部件21的另一半检测视野内检测到被检测部件22的第二结构件222，更便于判断轴臂11是否处于初始位置。当检测部件21检测到的第一结构件221和第二结构件222覆盖的检测视野的比例不同时，表示轴臂11未处于初始位置。图3和6所示的例子中为检测部件21的检测视野内全部检测到第二结构件222。图4和图7所示的例子中为检测部件21的检测视野内全部检测到第一结构件221。
在一些可选的实施例中，所述被检测部件22为环形件，所述第一结构件221和所述第二结构件222为相互连接的半环形结构。所述环形件的轴向与所述动力组件12的驱动轴向同轴设置。可以理解的，轴臂11相对动力组件12转动时，被检测部件22随同轴臂11一同以动力组件12的轴向为转轴进行转动。
在图1至图4所示的例子中，第一结构件221和第二结构件222可以通过构件颜色的差异，实现对光电传感器的形成强度不同的光电信号。可选地，所述第一结构件221的表面为第一颜色，所述第二结构件222的表面为第二颜色，所述第二颜色与所述第一颜色不同。为了形成较大反差的强度的不同的光电信号，所述第一颜色为黑色，所述第二颜色为白色。当然，在其他例子中，第一颜色和第二颜色也可以采用其他两种不同的颜色，本申请对此不作限制。
在图1至图4所示的例子中，第一结构件221和第二结构件222也可以通过表面粗糙度的差异，实现对光电传感器的形成强度不同的光电信号。可选地，所述第一结构件221的表面具有第一表面粗糙度，所述第二结构件222的表面具有第二表面粗糙度，所述第二表面粗糙度与所述第一表面粗糙度不同。
第一结构件221和第二结构件222可以通过结构上的差异，实现对光电传感器的形成强度不同的光电信号。第一结构件221和第二结构件222的结构差异能够实现在所述轴臂12转动过程中，所述第一结构件221始终位于所述检测部件21的检测范围外，至少部分所述第二结构件222位于所述检测部件21的检测范围内，同样可以对光电传感器的形成强度不同的光电信号。
在图8至图11所示的例子中，所述第一结构件221沿所述环形件的轴向凸出形成有凸出部223，所述凸出部223凸出于所述第二结构件222靠近所述动力组件12的表面。所述光电传感器包括与所述凸出部223相适配的凹槽部211，所述凹槽部211投影于所述环形件的轴向所在的平面内的投影与所述凸出部223投影于所述平面内的投影至少部分重叠，且所述光电传感器投影于所述动力组件12上的投影面与所述环形件投影于所述动力组件12上的投影面至少部分重合。通过上述设置，既可以保证被检 测部件22随轴臂11转动的过程中，第二结构件222的凸出部223的移动轨道与在检测部件21的凹槽部211的位置相对应，又可以保证第二结构件222的凸出部223的至少部分可以位于检测部件21的凹槽部211内。
可以理解的，所述轴臂11处于初始位置时，第二结构件222的凸出部223覆盖检测部件21的凹槽部211内的一半空间，即第二结构件222的凸出部223覆盖检测部件21的凹槽部211内的空间比例为50％。如图9所示。当第二结构件222的凸出部223覆盖检测部件21的凹槽部211内的空间比例不是50％时，表示轴臂11未处于初始位置。图10所示的例子中为检测部件21的检测视野全部被第二结构件222的凸出部223覆盖。图11所示的例子中为检测部件21的检测视野内完全未被第二结构件222的凸出部223覆盖。
参见图12至图14所示，在图12至图14所示的例子中，第二结构件222的纵向尺寸大于第一结构件111的纵向尺寸。所述轴臂11处于初始位置时，检测部件21的一半检测视野内检测到被检测部件22的第二结构件222，检测部件21的另一半检测视野内未检测到任何被检测部件21，即检测部件21的检测视野内被检测部件22覆盖的比例为50％，如图12所示。当检测部件21的检测视野内被检测部件22覆盖的比例不是50％时，表示轴臂11未处于初始位置。图13所示的例子中为检测部件21的检测视野内未检测任何被检测物体22。图14所示的例子中为检测部件21的检测视野内全部检测到被检测物体22。
在一些可选的实施例中，所述检测部件21与所述动力组件12电连接。所述云台装置上电时，所述检测部件21检测所述被检测部件22的位置，并向所述动力组件12发送检测信号，所述动力组件12根据所述检测信号驱动所述轴臂11转动至所述初始位置。可以理解的，当云台装置上电开机时，如果检测部件21检测到的被检测部件22的位置表示轴臂11未处于初始位置，动力组件12能够自动驱动所述轴臂11转动至初始位置，如图2或图9所示。
进一步地，所述动力组件12包括控制器、电路板121以及用于驱动所述轴臂11转动的驱动件122，所述驱动件122与所述轴臂11连接，所述控制器固接于所述电路板121并与所述电路板121电连接，所述检测部件21固接于所述电路板121并与所述电路板121电连接。所述云台装置上电时，所述检测部件21检测所述被检测部件22的位置，并向所述控制器发送检测信号，所述控制器根据所述检测信号控制所述驱动件122驱动所述轴臂11转动至初始位置。可选地，驱动件122为驱动电机，驱动件122也可以采用其他驱动结构，本申请对此不作限制。动力组件12的壳体内部还可以设置用于对驱动电机或其他器件供电和传输数据的电线19。
实际应用中，当云台装置上电开机时，如果检测部件21检测到的被检测部件22的位置表示轴臂11未处于初始位置，控制器能够自动控制驱动件122驱动所述轴 臂11转动至初始位置。也即，拍摄装置开机上电时，云台装置能够根据检测部件21的检测结果自动控制动力组件12驱动所述轴臂11转动至初始位置，实现自动复位校正的功能。
如图3所示，当检测部件21检测到第二结构件222占用检测视野的比例大于第一结构件221时，控制器控制驱动件122驱动所述轴臂11逆时针转动至如图2所示的初始位置。如图4所示，当检测部件21检测到第二结构件222占用检测视野的比例小于第一结构件221时，控制器控制驱动件122驱动所述轴臂11顺时针转动至如图2所示的初始位置。
如图10所示，当检测部件21检测到第二结构件222的凸起部223的凸起特征占用检测视野的比例大于50％时，控制器控制驱动件122驱动所述轴臂11逆时针转动至如图9所示的初始位置。如图11所示，当检测部件21检测到第二结构件222的凸起部223的凸起特征占用检测视野的比例小于50％时，控制器控制驱动件122驱动所述轴臂11顺时针转动至如图9所示的初始位置。
在一些可选的实施例中，云台装置还可以包括至少一个柔性电路板17(Flexible Printed Circuit，FPC)，柔性电路板17上连接有用于连接外部器件的连接器18。可选地，柔性电路板17可以与电路板121相连，也可以与拍摄器90的内部主板相连。
在一些可选的实施例中，所述轴臂组件的数量为至少一个，所述位置检测组件的数量为至少一个且不多于所述轴臂组件的数量，至少一个轴臂组件的动力组件12和轴臂11之间设有所述位置检测组件。可以理解的，本申请的云台装置可以是单轴云台、双轴云台或是三轴云台。本申请的云台装置为单轴云台时，所述轴臂组件的数量为一个，所述位置检测组件的数量为一个，所述位置检测组件设置于该轴臂组件的动力组件12和轴臂11之间。本申请的云台装置为双轴云台时，所述轴臂组件的数量为两个，所述位置检测组件的数量可以为一个或两个，可以根据实际需要，在其中一个轴臂组件的动力组件12和轴臂11之间设置所述位置检测组件，或是在两个轴臂组件的动力组件12和轴臂11之间均设置一个所述位置检测组件。本申请的云台装置为三轴云台时，所述轴臂组件的数量为三个，所述位置检测组件的数量可以为一个、两个或是三个，可以根据实际需要，在其中一个轴臂组件的动力组件12和轴臂11之间设置所述位置检测组件，或是在其中两个轴臂组件的动力组件12和轴臂11之间设置所述位置检测组件，或是在三个轴臂组件的动力组件12和轴臂11之间均设置一个所述位置检测组件。
其中，所述至少一个轴臂组件可以包括偏航轴组件、横滚轴组件以及俯仰轴组件。所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括与所述偏航轴轴臂连接的横滚轴动力组件13和与所述横滚轴动力组件13连接的横滚轴轴臂14，所述俯仰轴组件包括与所述横滚轴轴臂14连接的俯 仰轴动力组件15和与所述俯仰轴动力组件15连接的俯仰轴轴臂16。拍摄器90可以设置于所述俯仰轴轴臂。偏航轴轴臂可以相对偏航轴动力组件转动。横滚轴轴臂可以相对横滚轴动力组件转动。俯仰轴轴臂可以相对俯仰轴动力组件转动。
可选地，在图中所示的例子中，本申请的云台装置为三轴云台。需要说明的是，图中所示的轴臂11可以理解为是偏航轴轴臂，图中所示的动力组件12可以理解为是偏航轴动力组件。可选地，为了节省云台装置的体积，横滚轴轴臂14和俯仰轴轴臂16可以设置为占用体积较小的结构，能够实现与横滚轴动力组件13以及俯仰轴动力组件15相配合即可。
本申请实施例的拍摄装置，通过云台装置的设置在的轴臂组件之间的位置检测组件的检测部件21检测被检测部件22的位置，能够确定轴臂组件的轴臂11相对动力组件12的位置，也即确定云台轴臂组件的关节角的位置，从而确定云台的当前位置。避免了拍摄装置每次开机无法确认当前位置而需要重新确认的问题，节省了开机时间，提高用户体验。并且，拍摄装置开机上电时，云台装置能够根据检测部件21的检测结果自动控制动力组件12驱动所述轴臂11转动至初始位置，实现自动复位校正的功能。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的云台手柄和具有其的云台进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (32)

  1. 一种云台装置，其特征在于，包括用于装载负载的云台支架和位置检测组件，所述云台支架包括轴臂组件，所述轴臂组件包括轴臂和与所述轴臂连接的动力组件，所述动力组件用于驱动所述轴臂转动；所述位置检测组件设置于所述轴臂组件的所述动力组件和所述轴臂之间；
    所述位置检测组件包括检测部件和被检测部件，所述检测部件固接于所述动力组件和所述轴臂中的一者，所述被检测部件固接于所述动力组件和所述轴臂中的另一者；所述检测部件用于检测所述被检测部件的位置，以确定所述轴臂相对所述动力组件的位置。
  2. 根据权利要求1所述的云台装置，其特征在于，所述检测部件固接于所述动力组件，所述被检测部件固接于所述轴臂。
  3. 根据权利要求2所述的云台装置，其特征在于，所述检测部件为光电传感器，所述被检测部件包括相互连接的第一结构件和第二结构件，所述第一结构件与所述第二结构件反馈给所述光电传感器的光电信号的强度不同。
  4. 根据权利要求3所述的云台装置，其特征在于，所述光电传感器包括用于检测所述被检测部件的检测视野，所述第一结构件和所述第二结构件投影于所述动力组件上的投影面积相同；所述轴臂包括初始位置，所述轴臂处于所述初始位置时，所述第一结构件和所述第二结构件位于所述检测视野内的投影面积相同。
  5. 根据权利要求4所述的云台装置，其特征在于，所述被检测部件为环形件，所述第一结构件和所述第二结构件为相互连接的半环形结构；所述环形件的轴向与所述动力组件的驱动轴向同轴设置。
  6. 根据权利要求5所述的云台装置，其特征在于，所述第一结构件的表面为第一颜色，所述第二结构件的表面为第二颜色，所述第二颜色与所述第一颜色不同。
  7. 根据权利要求6所述的云台装置，其特征在于，所述第一颜色为黑色，所述第二颜色为白色。
  8. 根据权利要求5所述的云台装置，其特征在于，所述第一结构件的表面具有第一表面粗糙度，所述第二结构件的表面具有第二表面粗糙度，所述第二表面粗糙度与所述第一表面粗糙度不同。
  9. 根据权利要求5所述的云台装置，其特征在于，所述第一结构件沿所述环形件的轴向凸出形成有凸出部，所述凸出部凸出于所述第二结构件靠近所述动力组件的表面；
    所述光电传感器包括与所述凸出部相适配的凹槽部，所述凹槽部投影于所述环形件的轴向所在的平面内的投影与所述凸出部投影于所述平面内的投影至少部分重叠，且所述光电传感器投影于所述动力组件上的投影面与所述环形件投影于所述动力组件上的投影面至少部分重合。
  10. 根据权利要求4所述的云台装置，其特征在于，所述检测部件与所述动力组件 电连接；所述云台装置上电时，所述检测部件检测所述被检测部件的位置，并向所述动力组件发送检测信号，所述动力组件根据所述检测信号驱动所述轴臂转动至所述初始位置。
  11. 根据权利要求10所述的云台装置，其特征在于，所述动力组件包括控制器、电路板以及用于驱动所述轴臂转动的驱动件，所述驱动件与所述轴臂连接，所述控制器固接于所述电路板并与所述电路板电连接，所述检测部件固接于所述电路板并与所述电路板电连接；
    所述云台装置上电时，所述检测部件检测所述被检测部件的位置，并向所述控制器发送检测信号，所述控制器根据所述检测信号控制所述驱动件驱动所述轴臂转动至所述初始位置。
  12. 根据权利要求2所述的云台装置，其特征在于，所述轴臂包括与所述动力组件连接的底座和连接于所述底座的轴臂本体，所述被检测部件固接于所述底座靠近所述动力组件的一端。
  13. 根据权利要求12所述的云台装置，其特征在于，所述底座靠近所述动力组件的一侧端面开设有至少一个定位槽，所述被检测部件设有与所述定位槽插接配合的至少一个插接部。
  14. 根据权利要求1所述的云台装置，其特征在于，所述被检测部件为塑料件。
  15. 根据权利要求1所述的云台装置，其特征在于，所述轴臂组件的数量为至少一个，所述位置检测组件的数量为至少一个且不多于所述轴臂组件的数量；至少一个所述轴臂组件的所述动力组件和所述轴臂之间设有所述位置检测组件。
  16. 根据权利要求15所述的云台装置，其特征在于，所述至少一个轴臂组件包括偏航轴组件、横滚轴组件以及俯仰轴组件；
    所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括与所述偏航轴轴臂连接的横滚轴动力组件和与所述横滚轴动力组件连接的横滚轴轴臂，所述俯仰轴组件包括与所述横滚轴轴臂连接的俯仰轴动力组件和与所述俯仰轴动力组件连接的俯仰轴轴臂。
  17. 一种拍摄装置，其特征在于，包括拍摄器和云台装置；
    所述云台装置包括用于装载负载的云台支架和位置检测组件，所述云台支架包括轴臂组件，所述轴臂组件包括轴臂和与所述轴臂连接的动力组件，所述动力组件用于驱动所述轴臂转动；所述拍摄器装载于所述云台装置的轴臂组件；
    所述位置检测组件设置于所述轴臂组件的所述动力组件和所述轴臂之间；所述位置检测组件包括检测部件和被检测部件，所述检测部件固接于所述动力组件和所述轴臂中的一者，所述被检测部件固接于所述动力组件和所述轴臂中的另一者；所述检测部件用于检测所述被检测部件的位置，以确定所述轴臂相对所述动力组件的位置。
  18. 根据权利要求17所述的拍摄装置，其特征在于，所述检测部件固接于所述动力组件，所述被检测部件固接于所述轴臂。
  19. 根据权利要求18所述的拍摄装置，其特征在于，所述检测部件为光电传感器，所述被检测部件包括相互连接的第一结构件和第二结构件，所述第一结构件与所述第二结构件反馈给所述光电传感器的光电信号的强度不同。
  20. 根据权利要求19所述的拍摄装置，其特征在于，所述光电传感器包括用于检测所述被检测部件的检测视野，所述第一结构件和所述第二结构件投影于所述动力组件上的投影面积相同；所述轴臂包括初始位置，所述轴臂处于所述初始位置时，所述第一结构件和所述第二结构件位于所述检测视野内的投影面积相同。
  21. 根据权利要求20所述的拍摄装置，其特征在于，所述被检测部件为环形件，所述第一结构件和所述第二结构件为相互连接的半环形结构；所述环形件的轴向与所述动力组件的驱动轴向同轴设置。
  22. 根据权利要求21所述的拍摄装置，其特征在于，所述第一结构件的表面为第一颜色，所述第二结构件的表面为第二颜色，所述第二颜色与所述第一颜色不同。
  23. 根据权利要求22所述的拍摄装置，其特征在于，所述第一颜色为黑色，所述第二颜色为白色。
  24. 根据权利要求21所述的拍摄装置，其特征在于，所述第一结构件的表面具有第一表面粗糙度，所述第二结构件的表面具有第二表面粗糙度，所述第二表面粗糙度与所述第一表面粗糙度不同。
  25. 根据权利要求21所述的拍摄装置，其特征在于，所述第一结构件沿所述环形件的轴向凸出形成有凸出部，所述凸出部凸出于所述第二结构件靠近所述动力组件的表面；
    所述光电传感器包括与所述凸出部相适配的凹槽部，所述凹槽部投影于所述环形件的轴向所在的平面内的投影与所述凸出部投影于所述平面内的投影至少部分重叠，且所述光电传感器投影于所述动力组件上的投影面与所述环形件投影于所述动力组件上的投影面至少部分重合。
  26. 根据权利要求20所述的拍摄装置，其特征在于，所述检测部件与所述动力组件电连接；所述拍摄装置上电时，所述检测部件检测所述被检测部件的位置，并向所述动力组件发送检测信号，所述动力组件根据所述检测信号驱动所述轴臂转动至所述初始位置。
  27. 根据权利要求26所述的拍摄装置，其特征在于，所述动力组件包括控制器、电路板以及用于驱动所述轴臂转动的驱动件，所述驱动件与所述轴臂连接，所述控制器固接于所述电路板并与所述电路板电连接，所述检测部件固接于所述电路板并与所述电路板电连接；
    所述云台装置上电时，所述检测部件检测所述被检测部件的位置，并向所述控制器发送检测信号，所述控制器根据所述检测信号控制所述驱动件驱动所述轴臂转动至所述初始位置。
  28. 根据权利要求18所述的拍摄装置，其特征在于，所述轴臂包括与所述动力组 件连接的底座和连接于所述底座的轴臂本体，所述被检测部件固接于所述底座靠近所述动力组件的一端。
  29. 根据权利要求28所述的拍摄装置，其特征在于，所述底座靠近所述动力组件的一侧端面开设有至少一个定位槽，所述被检测部件设有与所述定位槽插接配合的至少一个插接部。
  30. 根据权利要求17所述的拍摄装置，其特征在于，所述被检测部件为塑料件。
  31. 根据权利要求17所述的拍摄装置，其特征在于，所述轴臂组件的数量为至少一个，所述位置检测组件的数量为至少一个且不多于所述轴臂组件的数量；至少一个所述轴臂组件的所述动力组件和所述轴臂之间设有所述位置检测组件。
  32. 根据权利要求31所述的拍摄装置，其特征在于，所述至少一个轴臂组件包括偏航轴组件、横滚轴组件以及俯仰轴组件；
    所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括与所述偏航轴轴臂连接的横滚轴动力组件和与所述横滚轴动力组件连接的横滚轴轴臂，所述俯仰轴组件包括与所述横滚轴轴臂连接的俯仰轴动力组件和与所述俯仰轴动力组件连接的俯仰轴轴臂。
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